meta/info.json

{
    "codebase_version": "v3.0",
    "robot_type": "ur5e_aic",
    "total_episodes": 3,
    "total_frames": 1425,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "linear.x",
                "linear.y",
                "linear.z",
                "angular.x",
                "angular.y",
                "angular.z",
                "gripper_target"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "tcp_pose.position.x",
                "tcp_pose.position.y",
                "tcp_pose.position.z",
                "tcp_pose.orientation.x",
                "tcp_pose.orientation.y",
                "tcp_pose.orientation.z",
                "tcp_pose.orientation.w",
                "tcp_velocity.linear.x",
                "tcp_velocity.linear.y",
                "tcp_velocity.linear.z",
                "tcp_velocity.angular.x",
                "tcp_velocity.angular.y",
                "tcp_velocity.angular.z",
                "tcp_error.x",
                "tcp_error.y",
                "tcp_error.z",
                "tcp_error.rx",
                "tcp_error.ry",
                "tcp_error.rz",
                "joint_positions.0",
                "joint_positions.1",
                "joint_positions.2",
                "joint_positions.3",
                "joint_positions.4",
                "joint_positions.5",
                "joint_positions.6"
            ],
            "shape": [
                26
            ]
        },
        "observation.images.left_camera": {
            "dtype": "video",
            "shape": [
                256,
                288,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 288,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.center_camera": {
            "dtype": "video",
            "shape": [
                256,
                288,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 288,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_camera": {
            "dtype": "video",
            "shape": [
                256,
                288,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 288,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}